Detailed Description

The ICP algorithm configuration data.

Definition at line 57 of file CICP.h.

#include <mrpt/slam/CICP.h>

Inheritance diagram for mrpt::slam::CICP::TConfigParams:

Public Member Functions
	TConfigParams ()
	Initializer for default values: More...

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
	This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

Public Attributes
float	thresholdDist

float	thresholdAng
	Initial threshold distance for two points to become a correspondence. More...

float	ALFA
	The scale factor for threshold everytime convergence is achieved. More...

float	smallestThresholdDist
	The size for threshold such that iterations will stop, since it is considered precise enough. More...

float	covariance_varPoints
	This is the normalization constant $\sigma^2_p$ that is used to scale the whole 3x3 covariance. More...

bool	doRANSAC
	Perform a RANSAC step, mrpt::tfest::se2_l2_robust(), after the ICP convergence, to obtain a better estimation of the pose PDF. More...

float	kernel_rho
	Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m) More...

bool	use_kernel
	Whether to use kernel_rho to smooth distances, or use distances directly (default=true) More...

float	Axy_aprox_derivatives
	[LM method only] The size of the perturbance in x & y used to estimate the Jacobians of the square error (default=0.05) More...

float	LM_initial_lambda
	[LM method only] The initial value of the lambda parameter in the LM method (default=1e-4) More...

bool	skip_cov_calculation
	Skip the computation of the covariance (saves some time) (default=false) More...

bool	skip_quality_calculation
	Skip the (sometimes) expensive evaluation of the term 'quality' at ICP output (Default=true) More...

uint32_t	corresponding_points_decimation
	Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points. More...

Algorithms selection
TICPAlgorithm	ICP_algorithm
	The algorithm to use (default: icpClassic). See http://www.mrpt.org/tutorials/programming/scan-matching-and-icp/ for details. More...

TICPCovarianceMethod	ICP_covariance_method
	The method to use for covariance estimation (Default: icpCovFiniteDifferences) More...

Correspondence-finding criteria
bool	onlyClosestCorrespondences
	The usual approach: to consider only the closest correspondence for each local point (Default to true) More...

bool	onlyUniqueRobust

Termination criteria
Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false).
unsigned int	maxIterations
	Maximum number of iterations to run. More...

float	minAbsStep_trans
	If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6) More...

float	minAbsStep_rot
	If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6) More...

RANSAC-step options for mrpt::tfest::se2_l2_robust() if \a doRANSAC=true
unsigned int	ransac_minSetSize

unsigned int	ransac_maxSetSize

unsigned int	ransac_nSimulations

float	ransac_mahalanobisDistanceThreshold

float	normalizationStd
	RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG) More...

bool	ransac_fuseByCorrsMatch

float	ransac_fuseMaxDiffXY

float	ransac_fuseMaxDiffPhi

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

◆ TConfigParams()

CICP::TConfigParams::TConfigParams ( )

Initializer for default values:

Definition at line 92 of file CICP.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 47 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

◆ dumpToTextStream()

void CICP::TConfigParams::dumpToTextStream ( mrpt::utils::CStream & out ) const

virtual

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 178 of file CICP.cpp.

References normalizationStd, mrpt::utils::CStream::printf(), RAD2DEG, and ransac_mahalanobisDistanceThreshold.

Referenced by mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream().

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 67 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 72 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ loadFromConfigFile()

void CICP::TConfigParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 133 of file CICP.cpp.

References DEG2RAD, MRPT_LOAD_CONFIG_VAR, normalizationStd, RAD2DEG, ransac_mahalanobisDistanceThreshold, mrpt::utils::CConfigFileBase::read_enum(), and mrpt::utils::CConfigFileBase::read_float().

Referenced by mrpt::maps::CMultiMetricMapPDF::TPredictionParams::loadFromConfigFile().

◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 31 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Member Data Documentation

◆ ALFA

float mrpt::slam::CICP::TConfigParams::ALFA

The scale factor for threshold everytime convergence is achieved.

Definition at line 85 of file CICP.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ Axy_aprox_derivatives

float mrpt::slam::CICP::TConfigParams::Axy_aprox_derivatives

[LM method only] The size of the perturbance in x & y used to estimate the Jacobians of the square error (default=0.05)

Definition at line 107 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_LM().

◆ corresponding_points_decimation

uint32_t mrpt::slam::CICP::TConfigParams::corresponding_points_decimation

Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points.

The speed-up comes from a decimation of the number of KD-tree queries, the most expensive step in ICP

Definition at line 116 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

◆ covariance_varPoints

float mrpt::slam::CICP::TConfigParams::covariance_varPoints

This is the normalization constant $\sigma^2_p$ that is used to scale the whole 3x3 covariance.

This has a default value of $ (0.02)^2 $ , that is, a 2cm sigma. See paper: J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "A Robust, Multi-Hypothesis Approach to Matching Occupancy Grid Maps", Robotica, vol. 31, no. 5, pp. 687-701, 2013.

Definition at line 92 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ doRANSAC

bool mrpt::slam::CICP::TConfigParams::doRANSAC

Perform a RANSAC step, mrpt::tfest::se2_l2_robust(), after the ICP convergence, to obtain a better estimation of the pose PDF.

Definition at line 94 of file CICP.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ ICP_algorithm

TICPAlgorithm mrpt::slam::CICP::TConfigParams::ICP_algorithm

The algorithm to use (default: icpClassic). See http://www.mrpt.org/tutorials/programming/scan-matching-and-icp/ for details.

Definition at line 67 of file CICP.h.

Referenced by ICPTests::align2scans(), and mrpt::slam::CICP::Align3DPDF().

◆ ICP_covariance_method

TICPCovarianceMethod mrpt::slam::CICP::TConfigParams::ICP_covariance_method

The method to use for covariance estimation (Default: icpCovFiniteDifferences)

Definition at line 68 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ kernel_rho

float mrpt::slam::CICP::TConfigParams::kernel_rho

Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m)

Definition at line 105 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

◆ LM_initial_lambda

float mrpt::slam::CICP::TConfigParams::LM_initial_lambda

[LM method only] The initial value of the lambda parameter in the LM method (default=1e-4)

Definition at line 108 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_LM().

◆ maxIterations

unsigned int mrpt::slam::CICP::TConfigParams::maxIterations

Maximum number of iterations to run.

Definition at line 79 of file CICP.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ minAbsStep_rot

float mrpt::slam::CICP::TConfigParams::minAbsStep_rot

If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6)

Definition at line 81 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

◆ minAbsStep_trans

float mrpt::slam::CICP::TConfigParams::minAbsStep_trans

If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6)

Definition at line 80 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

◆ normalizationStd

float mrpt::slam::CICP::TConfigParams::normalizationStd

RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG)

Definition at line 100 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ onlyClosestCorrespondences

bool mrpt::slam::CICP::TConfigParams::onlyClosestCorrespondences

The usual approach: to consider only the closest correspondence for each local point (Default to true)

Definition at line 73 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ onlyUniqueRobust

bool mrpt::slam::CICP::TConfigParams::onlyUniqueRobust

Definition at line 74 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

◆ ransac_fuseByCorrsMatch

bool mrpt::slam::CICP::TConfigParams::ransac_fuseByCorrsMatch

Definition at line 101 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ ransac_fuseMaxDiffPhi

float mrpt::slam::CICP::TConfigParams::ransac_fuseMaxDiffPhi

Definition at line 102 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ ransac_fuseMaxDiffXY

float mrpt::slam::CICP::TConfigParams::ransac_fuseMaxDiffXY

Definition at line 102 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ ransac_mahalanobisDistanceThreshold

float mrpt::slam::CICP::TConfigParams::ransac_mahalanobisDistanceThreshold

Definition at line 99 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ ransac_maxSetSize

unsigned int mrpt::slam::CICP::TConfigParams::ransac_maxSetSize

Definition at line 98 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ ransac_minSetSize

unsigned int mrpt::slam::CICP::TConfigParams::ransac_minSetSize

Definition at line 98 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ ransac_nSimulations

unsigned int mrpt::slam::CICP::TConfigParams::ransac_nSimulations

Definition at line 98 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ skip_cov_calculation

bool mrpt::slam::CICP::TConfigParams::skip_cov_calculation

Skip the computation of the covariance (saves some time) (default=false)

Definition at line 110 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), and mrpt::slam::CICP::ICP_Method_Classic().

◆ skip_quality_calculation

bool mrpt::slam::CICP::TConfigParams::skip_quality_calculation

Skip the (sometimes) expensive evaluation of the term 'quality' at ICP output (Default=true)

Definition at line 111 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

◆ smallestThresholdDist

float mrpt::slam::CICP::TConfigParams::smallestThresholdDist

The size for threshold such that iterations will stop, since it is considered precise enough.

Definition at line 86 of file CICP.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ thresholdAng

float mrpt::slam::CICP::TConfigParams::thresholdAng

Initial threshold distance for two points to become a correspondence.

Definition at line 84 of file CICP.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and TEST_F().

◆ thresholdDist

float mrpt::slam::CICP::TConfigParams::thresholdDist

Definition at line 84 of file CICP.h.

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and TEST_F().

◆ use_kernel

bool mrpt::slam::CICP::TConfigParams::use_kernel

Whether to use kernel_rho to smooth distances, or use distances directly (default=true)

Definition at line 106 of file CICP.h.

Referenced by mrpt::slam::CICP::kernel().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TConfigParams()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ ALFA

◆ Axy_aprox_derivatives

◆ corresponding_points_decimation

◆ covariance_varPoints

◆ doRANSAC

◆ ICP_algorithm

◆ ICP_covariance_method

◆ kernel_rho

◆ LM_initial_lambda

◆ maxIterations

◆ minAbsStep_rot

◆ minAbsStep_trans

◆ normalizationStd

◆ onlyClosestCorrespondences

◆ onlyUniqueRobust

◆ ransac_fuseByCorrsMatch

◆ ransac_fuseMaxDiffPhi

◆ ransac_fuseMaxDiffXY

◆ ransac_mahalanobisDistanceThreshold

◆ ransac_maxSetSize

◆ ransac_minSetSize

◆ ransac_nSimulations

◆ skip_cov_calculation

◆ skip_quality_calculation

◆ smallestThresholdDist

◆ thresholdAng

◆ thresholdDist

◆ use_kernel